diff --git a/bun.lock b/bun.lock
index d125e84..5ca975b 100644
--- a/bun.lock
+++ b/bun.lock
@@ -8,6 +8,7 @@
         "@types/matter-js": "^0.20.2",
         "matter-js": "^0.20.0",
         "phaser": "^3.90.0",
+        "poly-decomp": "^0.3.0",
         "react": "^19.2.0",
         "react-dom": "^19.2.0",
         "react-router-dom": "^7.12.0",
@@ -417,6 +418,8 @@
 
     "picomatch": ["picomatch@4.0.3", "", {}, "sha512-5gTmgEY/sqK6gFXLIsQNH19lWb4ebPDLA4SdLP7dsWkIXHWlG66oPuVvXSGFPppYZz8ZDZq0dYYrbHfBCVUb1Q=="],
 
+    "poly-decomp": ["poly-decomp@0.3.0", "", {}, "sha512-hWeBxGzPYiybmI4548Fca7Up/0k1qS5+79cVHI9+H33dKya5YNb9hxl0ZnDaDgvrZSuYFBhkCK/HOnqN7gefkQ=="],
+
     "postcss": ["postcss@8.5.6", "", { "dependencies": { "nanoid": "^3.3.11", "picocolors": "^1.1.1", "source-map-js": "^1.2.1" } }, "sha512-3Ybi1tAuwAP9s0r1UQ2J4n5Y0G05bJkpUIO0/bI9MhwmD70S5aTWbXGBwxHrelT+XM1k6dM0pk+SwNkpTRN7Pg=="],
 
     "prelude-ls": ["prelude-ls@1.2.1", "", {}, "sha512-vkcDPrRZo1QZLbn5RLGPpg/WmIQ65qoWWhcGKf/b5eplkkarX0m9z8ppCat4mlOqUsWpyNuYgO3VRyrYHSzX5g=="],
diff --git a/e2e_log.txt b/e2e_log.txt
new file mode 100644
index 0000000..68020e8
--- /dev/null
+++ b/e2e_log.txt
@@ -0,0 +1,9 @@
+Starting Test...
+Starting E2E Evolution Test (50 Gens)...
+Gen 0: Best: 56.73, Avg: 22.47
+Gen 10: Best: 58.09, Avg: 22.27
+Gen 20: Best: 59.51, Avg: 21.88
+Gen 30: Best: 56.22, Avg: 26.25
+Gen 40: Best: 60.17, Avg: 25.75
+Gen 49: Best: 62.23, Avg: 24.81
+Evolution Result: 56.73 -> 62.23
diff --git a/package.json b/package.json
index 596b980..6509353 100644
--- a/package.json
+++ b/package.json
@@ -13,6 +13,7 @@
     "@types/matter-js": "^0.20.2",
     "matter-js": "^0.20.0",
     "phaser": "^3.90.0",
+    "poly-decomp": "^0.3.0",
     "react": "^19.2.0",
     "react-dom": "^19.2.0",
     "react-router-dom": "^7.12.0"
diff --git a/src/App.tsx b/src/App.tsx
index 925581a..d012b55 100644
--- a/src/App.tsx
+++ b/src/App.tsx
@@ -5,6 +5,7 @@ import SnakeAI from './apps/SnakeAI/SnakeAI';
 import RogueGenApp from './apps/RogueGen/RogueGenApp';
 import NeatArena from './apps/NeatArena/NeatArena';
 import LunarLanderApp from './apps/LunarLander/LunarLanderApp';
+import { SelfDrivingCarApp } from './apps/SelfDrivingCar/SelfDrivingCarApp';
 import './App.css';
 
 function App() {
@@ -19,6 +20,7 @@ function App() {
           <Route path="/rogue-gen" element={<RogueGenApp />} />
           <Route path="/neat-arena" element={<NeatArena />} />
           <Route path="/lunar-lander" element={<LunarLanderApp />} />
+          <Route path="/self-driving-car" element={<SelfDrivingCarApp />} />
           <Route path="*" element={<div>App not found</div>} />
         </Routes>
       </main>
diff --git a/src/apps/SelfDrivingCar/Car.test.ts b/src/apps/SelfDrivingCar/Car.test.ts
new file mode 100644
index 0000000..c5624db
--- /dev/null
+++ b/src/apps/SelfDrivingCar/Car.test.ts
@@ -0,0 +1,46 @@
+
+import Matter from 'matter-js';
+import { describe, expect, it, beforeEach } from 'bun:test';
+import { Car } from './Car';
+import { DenseNetwork } from '../LunarLander/DenseNetwork';
+import { DEFAULT_CAR_CONFIG } from './types';
+
+describe('Car Logic - Fitness & Stagnation', () => {
+    let car: Car;
+    let brain: DenseNetwork;
+
+    beforeEach(() => {
+        brain = new DenseNetwork([6, 8, 2]); // Standard topology
+        car = new Car(100, 100, brain, 0, DEFAULT_CAR_CONFIG);
+    });
+
+    it('should initialize with 0 fitness', () => {
+        expect(car.fitness).toBe(0);
+        expect(car.isDead).toBe(false);
+    });
+
+    it('should NOT lose fitness on death', () => {
+        car.kill();
+        expect(car.fitness).toBe(0);
+        expect(car.isDead).toBe(true);
+    });
+
+    it('should accumulate continuous fitness when moving', () => {
+         // Mock speed
+         // Can't easily mock speed on Body as it is computed.
+         // But we can check update path progress logic if we had path points.
+         
+         const points = Array.from({length: 100}, (_, i) => ({x: i*10, y: 0}));
+         car.body.position = {x: 0, y: 0};
+         
+         // Initial update should set index 0
+         car.update([], points);
+         
+         // Move to index 1
+         car.body.position = {x: 10, y: 0};
+         car.update([], points);
+         
+         // Should have gained fitness
+         expect(car.fitness).toBeGreaterThan(0);
+    });
+});
diff --git a/src/apps/SelfDrivingCar/Car.ts b/src/apps/SelfDrivingCar/Car.ts
new file mode 100644
index 0000000..a678730
--- /dev/null
+++ b/src/apps/SelfDrivingCar/Car.ts
@@ -0,0 +1,278 @@
+
+import Matter from 'matter-js';
+import { DEFAULT_CAR_CONFIG } from './types';
+import type { CarConfig } from './types';
+// import { NeuralNetwork } from '../../lib/neatArena/network';
+import { DenseNetwork } from '../LunarLander/DenseNetwork';
+import { distance, lineToLineIntersection } from './geom';
+
+// Physics Tunings Removed (Now in config)
+
+export class Car {
+    public body: Matter.Body;
+    public brain: DenseNetwork;
+    public isDead: boolean = false;
+    public fitness: number = 0;
+    public checkpointsPassed: number = 0;
+    public rayReadings: number[] = [];
+
+    public config: CarConfig;
+    
+    // START NEW TRACKING LOGIC
+    private currentPathIndex: number = 0;
+    private laps: number = 0;
+    private maxPathIndexReached: number = 0;
+    private initialPosSet: boolean = false;
+    private framesSinceCheckpoint: number = 0;
+
+    constructor(
+        x: number, 
+        y: number, 
+        brain: DenseNetwork,
+        angle: number = 0,
+        config: CarConfig = DEFAULT_CAR_CONFIG
+    ) {
+        this.brain = brain;
+        this.config = config;
+
+        // Create Physics Body
+        this.body = Matter.Bodies.rectangle(x, y, config.width, config.height, {
+            angle: angle,
+            frictionAir: config.frictionAir,
+            friction: config.friction,
+            density: 0.01,
+            label: 'car'
+        });
+    }
+
+    public update(walls: Matter.Body[], pathPoints: {x:number, y:number}[]) {
+        if (this.isDead) return;
+
+        // Init start position on path
+        if (!this.initialPosSet && pathPoints.length > 0) {
+            this.currentPathIndex = this.findClosestIndex(pathPoints, 0); // Search wide
+            this.initialPosSet = true;
+        }
+
+        // Stagnation Killer
+        this.framesSinceCheckpoint++;
+        if (this.framesSinceCheckpoint > 600) { 
+             // Stagnation
+             this.kill();
+             return;
+        }
+
+        // 1. Sensors
+        this.rayReadings = this.castRays(walls);
+
+        // 2. Think
+        const inputs = [
+            ...this.rayReadings,
+            this.body.speed / this.config.maxSpeed, // Normalize speed
+        ];
+        
+        const outputs = this.brain.predict(inputs);
+        const steer = outputs[0];
+        let gas = outputs[1];
+
+        // 3. Act (Kickstart)
+        if (this.framesSinceCheckpoint < 60 && this.fitness < 2) {
+            gas = 1.0; 
+        } else if (this.body.speed < 0.2) {
+            gas = 1.0; 
+        }
+
+        // Physics: Steering
+        if (this.body.speed > 0.5) {
+            Matter.Body.setAngularVelocity(this.body, steer * this.config.turnSpeed * Math.sign(gas));
+        }
+
+        // Physics: Gas (Forward Force)
+        const forward = {
+            x: Math.cos(this.body.angle - Math.PI/2),
+            y: Math.sin(this.body.angle - Math.PI/2)
+        };
+        
+        // Physics: Lateral Friction (Tire Grip)
+        this.applyTireGrip(forward);
+
+        if (gas > 0) {
+            const force = 0.003 * gas; // slightly stronger engine
+            Matter.Body.applyForce(this.body, this.body.position, { x: forward.x * force, y: forward.y * force });
+        } else {
+            // Braking is less magical now
+            const brakeEffect = 0.98;
+             Matter.Body.setVelocity(this.body, { x: this.body.velocity.x * brakeEffect, y: this.body.velocity.y * brakeEffect });
+        }
+        
+        // Speed Limit
+        if (this.body.speed > this.config.maxSpeed) {
+            Matter.Body.setVelocity(this.body, { 
+                x: this.body.velocity.x * (this.config.maxSpeed/this.body.speed), 
+                y: this.body.velocity.y * (this.config.maxSpeed/this.body.speed) 
+            });
+        }
+        
+        // 4. Update Fitness (Continuous Path Progress)
+        if (pathPoints.length > 0) {
+            this.updatePathProgress(pathPoints);
+        }
+    }
+
+    private applyTireGrip(forward: {x:number, y:number}) {
+        // Compute current velocity
+        const velocity = this.body.velocity;
+
+        // Compute Right vector
+        const right = { x: -forward.y, y: forward.x };
+
+        // Lateral Velocity = Dot(Velocity, Right)
+        const lateralSpeed = velocity.x * right.x + velocity.y * right.y;
+
+        // Lateral Impulse = -Lateral Velocity * (0.0 to 1.0)
+        // 1.0 = Perfect rails
+        // 0.0 = Ice
+        const lateralImpulse = lateralSpeed * this.config.lateralFriction;
+
+        // Apply impulse against the lateral motion
+        // Matter does impulses as force * time? No, setVelocity is cheating.
+        // Let's modify velocity directly for stability.
+        
+        Matter.Body.setVelocity(this.body, {
+            x: velocity.x - right.x * lateralImpulse,
+            y: velocity.y - right.y * lateralImpulse
+        });
+    }
+
+    private updatePathProgress(pathPoints: {x:number, y:number}[]) {
+        // Find closest point LOCAL SEARCH
+        // Search window: +/- 20 points from current index, handling wrap-around
+        const searchRadius = 20;
+        const total = pathPoints.length;
+        
+        let bestDist = Infinity;
+        let bestIndex = this.currentPathIndex;
+
+        for (let i = -searchRadius; i <= searchRadius; i++) {
+            let idx = (this.currentPathIndex + i);
+            // Handle wrap
+            if (idx < 0) idx += total;
+            if (idx >= total) idx -= total;
+
+            const d = distance(this.body.position, pathPoints[idx]);
+            // Use <= to favor forward points (later in the loop) when equidistant
+            // This is critical for loop closure where end overlaps start
+            if (d <= bestDist) {
+                bestDist = d;
+                bestIndex = idx;
+            }
+        }
+
+        // Did we move forward or backward?
+        // Simple logic: delta index
+        let delta = bestIndex - this.currentPathIndex;
+        
+        // Wrap detection
+        // Jump from total-1 to 0 (Forward Lap) -> Delta is negative large number (e.g. -499)
+        // Jump from 0 to total-1 (Reverse) -> Delta is positive large number (e.g. +499)
+        
+        if (delta < -total / 2) {
+            // Forward Lap
+            this.laps++;
+            delta += total;
+        } else if (delta > total / 2) {
+            // Backward Lap
+            this.laps--;
+            delta -= total;
+        }
+        
+        // Update state
+        this.currentPathIndex = bestIndex;
+
+        // Calculate continuous fitness
+        // Base Fitness: Laps * Total + CurrentIndex
+        // Sub-step Fitness: 1.0 - (Dist to BestIndex / MaxDist)? 
+        // Simpler: Just (Laps * Total) + CurrentIndex
+        
+        const rawScore = (this.laps * total) + this.currentPathIndex;
+        
+        // Only update fitness if we improve (Standard NEAT/GA practice usually for 'max reached')
+        // But for continuous driving, we want to allow fluctuations but reward overall progress.
+        // Let's use Raw Score directly. If they reverse, they lose fitness.
+        
+        // Scale down to reasonable numbers (e.g. 1 point per 100 units?)
+        // Let's just say 1 point per 1 path node.
+        
+        // Reward function:
+        this.fitness = Math.max(0, rawScore / 10.0); // 10 points per 100 nodes
+
+        // Stagnation Check
+        // If we haven't reached a NEW max path index in X frames, die.
+        // Convert laps+index to absolute
+        const absoluteIndex = (this.laps * total) + this.currentPathIndex;
+        if (absoluteIndex > this.maxPathIndexReached) {
+            this.maxPathIndexReached = absoluteIndex;
+            this.framesSinceCheckpoint = 0; // Usage of this var as 'framesSinceProgress'
+        }
+    }
+
+    private findClosestIndex(points: {x:number, y:number}[], _startIndex: number): number {
+        let bestDist = Infinity;
+        let bestIdx = 0;
+        for(let i=0; i<points.length; i++) { // brute init
+             const d = distance(this.body.position, points[i]);
+             if (d < bestDist) { bestDist = d; bestIdx = i; }
+        }
+        return bestIdx;
+    }
+
+    private castRays(walls: Matter.Body[]): number[] {
+        // ... (Keep existing ray logic)
+        const rays: number[] = [];
+        const start = this.body.position;
+        const forwardAngle = this.body.angle - Math.PI/2;
+        const startRayAngle = forwardAngle - this.config.raySpread / 2;
+        const angleStep = this.config.raySpread / (this.config.rayCount - 1);
+
+        for (let i = 0; i < this.config.rayCount; i++) {
+            const angle = startRayAngle + i * angleStep;
+            const dir = { x: Math.cos(angle), y: Math.sin(angle) };
+            const end = {
+                x: start.x + dir.x * this.config.rayLength,
+                y: start.y + dir.y * this.config.rayLength
+            };
+
+            let minDist = 1.0; 
+            for (const wall of walls) {
+                const d = distance(start, wall.position);
+                if (d > this.config.rayLength + 100) continue;
+                const dist = this.rayBodyIntersect(start, end, wall);
+                if (dist < minDist) minDist = dist;
+            }
+            rays.push(1.0 - minDist);
+        }
+        return rays;
+    }
+
+    private rayBodyIntersect(start: {x:number, y:number}, end: {x:number, y:number}, body: Matter.Body): number {
+         // ... (Keep existing logic)
+         const verts = body.vertices;
+         let minDist = 1.2; 
+         for (let i = 0; i < verts.length; i++) {
+            const p1 = verts[i];
+            const p2 = verts[(i + 1) % verts.length];
+            const intersection = lineToLineIntersection(start.x, start.y, end.x, end.y, p1.x, p1.y, p2.x, p2.y);
+            if (intersection) {
+                const d = distance(start, intersection);
+                const normalizedD = d / this.config.rayLength;
+                if (normalizedD < minDist) minDist = normalizedD;
+            }
+         }
+         return minDist;
+    }
+    
+    public kill() {
+        if (this.isDead) return;
+        this.isDead = true;
+    }
+}
diff --git a/src/apps/SelfDrivingCar/CarScene.ts b/src/apps/SelfDrivingCar/CarScene.ts
new file mode 100644
index 0000000..344b118
--- /dev/null
+++ b/src/apps/SelfDrivingCar/CarScene.ts
@@ -0,0 +1,344 @@
+import Phaser from 'phaser';
+import { CarSimulation } from './CarSimulation';
+import { Car } from './Car';
+import { DEFAULT_SIM_CONFIG, DEFAULT_CAR_CONFIG } from './types';
+import type { SerializedTrackData, SerializedVector, SerializedBody, CarConfig, SimulationConfig } from './types';
+import { TrackGenerator } from './Track';
+
+// NEAT Imports REMOVED
+// import { createPopulation, evolveGeneration, DEFAULT_EVOLUTION_CONFIG, type Population, type EvolutionConfig } from '../../lib/neatArena/evolution';
+// import type { Genome } from '../../lib/neatArena/genome';
+import { SimpleGA, DEFAULT_GA_CONFIG } from './SimpleGA';
+
+// Worker Import (Vite/Bun compatible)
+import TrainingWorker from './training.worker.ts?worker';
+
+export class CarScene extends Phaser.Scene {
+    private sim!: CarSimulation;
+    private graphics!: Phaser.GameObjects.Graphics;
+    
+    // Training State
+    private worker!: Worker;
+    private population: Float32Array[] = [];
+    private gaConfig = DEFAULT_GA_CONFIG;
+    private ga: SimpleGA;
+    
+    private generationCount = 0;
+    private bestGenomeEver: Float32Array | null = null;
+    private bestFitnessEver = -Infinity;
+
+    private serializedTrack!: SerializedTrackData;
+    private layerSizes = [6, 16, 12, 2]; // 6 Inputs, 16/12 Hidden, 2 Outputs
+    
+    // Config
+    private carConfig: CarConfig = DEFAULT_CAR_CONFIG;
+    private simConfig: SimulationConfig = DEFAULT_SIM_CONFIG;
+
+    private instanceId: string;
+
+    constructor() {
+        super({ key: 'CarScene' });
+        this.instanceId = Math.random().toString(36).substring(7);
+        console.log(`[CarScene:${this.instanceId}] Constructor called`);
+        this.ga = new SimpleGA(this.layerSizes, this.gaConfig);
+    }
+
+
+
+    create() {
+        // ... (Keep existing setup)
+        this.cameras.main.setBackgroundColor('#222222');
+        this.graphics = this.add.graphics();
+        this.startTraining();
+
+        // Listen for new track request
+        this.game.events.on('new-track', () => this.handleNewTrack()); // Refactored handler
+
+        // Cleanup
+        this.events.on('shutdown', this.shutdown, this);
+        this.events.on('destroy', this.shutdown, this);
+
+        // Listen for Config Updates
+        this.game.events.on('update-config', (cfg: { car: CarConfig, sim: SimulationConfig }) => {
+            this.carConfig = cfg.car;
+            this.simConfig = cfg.sim;
+            
+            // HOT RELOAD PHYSICS
+            if (this.sim) {
+                // We need to pass this into the sim, and the cars.
+                // Since cars are recreated often, we update the Sim's reference config?
+                // Or force update current cars.
+                
+                // Let's implement a 'updateConfig' method on Simulation
+                // For now, simpler: just iterate cars directly if possible or restart
+                
+                // But wait, the Sim class owns the cars.
+                // Let's just update the config the Sim holds (if we add it there)
+                // For now, let's just force a track regen if track params change?
+                // No, user wants realtime physics sliders.
+                
+                // Direct update for now:
+                this.sim.updateConfig(this.carConfig);
+                
+                // Also update Worker config for NEXT generation
+                if (this.worker) {
+                    // We can't easily interrupt the worker mid-gen with valid physics without complex sync.
+                    // So we just update the config it uses for next gen.
+                }
+            }
+        });
+        
+        // ... debug texts ... (rest of create)
+    }
+
+    private handleNewTrack() {
+        if (this.worker) this.worker.terminate();
+        this.sim = null as any; 
+        this.population = this.ga.createPopulation();
+        this.generationCount = 0;
+        this.bestFitnessEver = -Infinity;
+        this.game.events.emit('generation-complete', { generation: 0, best: 0, average: 0 });
+        this.startTraining();
+    }
+
+    private startTraining() {
+        // 1. Generate Track (Main Thread)
+        const generator = new TrackGenerator(this.scale.width, this.scale.height);
+        // Use current Sim Config for Complexity/Length
+        const rawTrack = generator.generate(this.simConfig.trackComplexity, this.simConfig.trackLength);
+        
+        // 2. Serialize Track
+        const serializedTrack: SerializedTrackData = {
+            innerWalls: rawTrack.innerWalls.map(v => ({ x: v.x, y: v.y })),
+            outerWalls: rawTrack.outerWalls.map(v => ({ x: v.x, y: v.y })),
+            pathPoints: rawTrack.pathPoints.map(v => ({ x: v.x, y: v.y })),
+            startPosition: { x: rawTrack.startPosition.x, y: rawTrack.startPosition.y },
+            startAngle: rawTrack.startAngle,
+            walls: rawTrack.walls.map(b => ({
+                position: { x: b.position.x, y: b.position.y },
+                angle: b.angle,
+                width: b.bounds.max.x - b.bounds.min.x,
+                height: b.bounds.max.y - b.bounds.min.y,
+                label: b.label,
+                isSensor: b.isSensor
+            })),
+            checkpoints: rawTrack.checkpoints.map(b => ({
+                position: { x: b.position.x, y: b.position.y },
+                angle: b.angle,
+                width: b.bounds.max.x - b.bounds.min.x,
+                height: b.bounds.max.y - b.bounds.min.y,
+                label: b.label,
+                isSensor: b.isSensor
+            }))
+        };
+        this.serializedTrack = serializedTrack;
+
+        // 3. Initialize Population
+        if (this.population.length === 0) {
+             this.population = this.ga.createPopulation();
+        }
+        
+        // 4. Initialize Worker
+        if (!this.worker) { // Only create if missing (or terminated)
+            this.worker = new TrainingWorker();
+            this.worker.onmessage = (e) => {
+                if (e.data.type === 'TRAIN_COMPLETE') {
+                    this.handleTrainingComplete(e.data.results);
+                }
+            };
+        }
+
+        // 5. Start First Generation (Worker)
+        this.startWorkerGeneration();
+
+        // 6. Initialize Visual Sim
+        this.sim = new CarSimulation(this.serializedTrack, { ...this.simConfig, populationSize: 1 }, [], this.carConfig); 
+    }
+
+    private startWorkerGeneration() {
+        if (!this.worker) return;
+        this.worker.postMessage({
+            type: 'TRAIN',
+            trackData: this.serializedTrack,
+            genomes: this.population, 
+            config: this.simConfig, // Pass latest sim config
+            carConfig: this.carConfig, // Pass latest car config
+            steps: 60 * 60 
+        });
+    }
+
+    private updateVisualSim(bestGenome: Float32Array) {
+        this.sim = new CarSimulation(
+            this.serializedTrack, 
+            { ...this.simConfig, populationSize: 1 }, 
+            [bestGenome],
+            this.carConfig
+        );
+    }
+
+    private handleTrainingComplete(results: { fitness: number, checkpoints: number }[]) {
+        // 1. Assign Fitness
+        const fitnesses = results.map(r => r.fitness);
+        
+        // Stats
+        const bestGenFit = Math.max(...fitnesses);
+        const avgGenFit = fitnesses.reduce((a,b) => a+b, 0) / fitnesses.length;
+        this.generationCount++;
+
+        let newChampionFound = false;
+
+        if (bestGenFit > this.bestFitnessEver) {
+            this.bestFitnessEver = bestGenFit;
+            const bestIdx = fitnesses.indexOf(bestGenFit);
+            this.bestGenomeEver = this.population[bestIdx];
+            newChampionFound = true;
+        }
+
+        // 2. Evolve
+        this.population = this.ga.evolve(this.population, fitnesses);
+
+        // 3. Emit Stats
+        const stats = {
+            generation: this.generationCount,
+            best: this.bestFitnessEver,
+            average: avgGenFit
+        };
+        console.log(`[CarScene:${this.instanceId}] Generation ${this.generationCount} complete. Emitting stats:`, stats);
+        this.game.events.emit('generation-complete', stats);
+
+        // 4. Update Visual Sim ONLY if we found a better car
+        // If we didn't improve, we let the current one keep running (it will loop itself)
+        if (newChampionFound && this.bestGenomeEver) {
+            // Visual feedback of new record?
+            this.updateVisualSim(this.bestGenomeEver);
+        }
+
+        // 5. Loop Internal Training
+        this.startWorkerGeneration();
+    }
+
+    private updateVisualSim(bestGenome: Float32Array) {
+        // Restart sim with just 1 car (The Champion)
+        // We reuse the track data
+        this.sim = new CarSimulation(
+            this.serializedTrack, 
+            { ...DEFAULT_SIM_CONFIG, populationSize: 1 }, 
+            [bestGenome]
+        );
+    }
+
+    update(_time: number, _delta: number) {
+        // Step Simulation (Visual Only)
+        this.sim.update();
+
+        // Check if visual car crashed/finished
+        // If so, respawn it (Infinite Loop of Fame)
+        if (this.sim.isFinished()) {
+             if (this.bestGenomeEver) {
+                 this.updateVisualSim(this.bestGenomeEver);
+             } else {
+                 // Should imply we are in init state, just restart whatever we have
+                 // (or wait for gen 1)
+             }
+        }
+
+        // Render
+        this.graphics.clear();
+        this.drawTrack();
+        
+        this.sim.cars.forEach(car => {
+            this.drawCar(car);
+        });
+    }
+
+    private drawTrack() {
+        if (!this.serializedTrack) return;
+
+        // Draw Smooth Track Surface (Dark Grey Road)
+        this.graphics.fillStyle(0x333333);
+        const outer = this.serializedTrack.outerWalls;
+        const inner = this.serializedTrack.innerWalls;
+        
+        this.graphics.fillStyle(0x333333);
+        this.graphics.lineStyle(2, 0x555555); // Wall edges
+
+        for (let i = 0; i < outer.length - 1; i++) {
+            this.graphics.beginPath();
+            this.graphics.moveTo(inner[i].x, inner[i].y);
+            this.graphics.lineTo(outer[i].x, outer[i].y);
+            this.graphics.lineTo(outer[i+1].x, outer[i+1].y);
+            this.graphics.lineTo(inner[i+1].x, inner[i+1].y);
+            this.graphics.closePath();
+            this.graphics.fillPath();
+            this.graphics.strokePath();
+        }
+
+        // PHYSICS DEBUG: Draw actual physical bodies in Red/Blue to check alignment
+        this.sim.walls.forEach(wall => {
+            this.graphics.lineStyle(1, 0xff0000, 0.5); // Red Walls
+            this.graphics.beginPath();
+            const v = wall.vertices;
+            this.graphics.moveTo(v[0].x, v[0].y);
+            for(let k=1; k<v.length; k++) this.graphics.lineTo(v[k].x, v[k].y);
+            this.graphics.closePath();
+            this.graphics.strokePath();
+        });
+
+        this.sim.checkpoints.forEach((cp, i) => {
+             if (i===0) this.graphics.fillStyle(0x00ff00, 0.5); 
+             else this.graphics.fillStyle(0x00ffff, 0.3); // Cyan checkpoints
+             
+             this.graphics.beginPath();
+             const v = cp.vertices;
+             this.graphics.moveTo(v[0].x, v[0].y);
+             for(let k=1; k<v.length; k++) this.graphics.lineTo(v[k].x, v[k].y);
+             this.graphics.closePath();
+             this.graphics.fillPath();
+        });
+    }
+
+    shutdown() {
+        if (this.worker) this.worker.terminate();
+    }
+
+    private drawCar(car: Car) {
+        const p = car.body.position;
+        // Body
+        this.graphics.fillStyle(car.isDead ? 0x550000 : 0x00ff00);
+        
+        this.graphics.translateCanvas(p.x, p.y);
+        this.graphics.rotateCanvas(car.body.angle);
+        this.graphics.fillRect(-10, -20, 20, 40); // Approx size
+        this.graphics.rotateCanvas(-car.body.angle);
+        this.graphics.translateCanvas(-p.x, -p.y);
+
+        // Draw Rays (Only if alive to reduce clutter, or just best car)
+        // Check if this is the "visual" best car (simulation only has 1 in visual mode usually)
+        if (!car.isDead && this.sim.cars.length === 1) {
+             const start = car.body.position;
+             const angleBase = car.body.angle - Math.PI/2;
+             const spread = Math.PI/2; // Matches DEFAULT_CAR_CONFIG.raySpread (hardcoded for viz)
+             const count = 5; 
+             const len = 150;
+
+             // We need actual readings to color them?
+             // Since we don't strictly sync readings to scene in this simple loop, just draw lines showing FOV.
+             this.graphics.lineStyle(1, 0x00ff00, 0.3);
+             
+             // Recalculate angles to match Car.ts logic roughly for visualization
+             const startRayAngle = angleBase - spread / 2;
+             const angleStep = spread / (count - 1);
+
+             for(let i=0; i<count; i++) {
+                 const angle = startRayAngle + i * angleStep;
+                 this.graphics.beginPath();
+                 this.graphics.moveTo(start.x, start.y);
+                 this.graphics.lineTo(
+                     start.x + Math.cos(angle) * len,
+                     start.y + Math.sin(angle) * len
+                 );
+                 this.graphics.strokePath();
+             }
+        }
+    }
+}
diff --git a/src/apps/SelfDrivingCar/CarSimulation.ts b/src/apps/SelfDrivingCar/CarSimulation.ts
new file mode 100644
index 0000000..19b9bbd
--- /dev/null
+++ b/src/apps/SelfDrivingCar/CarSimulation.ts
@@ -0,0 +1,184 @@
+
+import Matter from 'matter-js';
+// import { TrackGenerator } from './Track'; 
+// REMOVED TrackGenerator for Worker Safety
+import { Car } from './Car';
+import { DEFAULT_SIM_CONFIG, DEFAULT_CAR_CONFIG } from './types';
+import type { SimulationConfig, SerializedTrackData, CarConfig } from './types';
+// import { NeuralNetwork } from '../../lib/neatArena/network';
+// import type { Genome } from '../../lib/neatArena/genome';
+import { DenseNetwork } from '../LunarLander/DenseNetwork';
+
+export class CarSimulation {
+    public engine: Matter.Engine;
+    public cars: Car[] = [];
+    public walls: Matter.Body[] = [];
+    public checkpoints: Matter.Body[] = [];
+    
+    // Sim State
+    public generation: number = 1;
+    public frameValues: number = 0;
+
+    private config: SimulationConfig;
+    private trackData: SerializedTrackData;
+    private genomes: Float32Array[] = [];
+
+    // public onGenerationComplete?: (stats: { generation: number, best: number, average: number }) => void;
+    // We can't pass functions to worker easily, but for now this class is used in Main too.
+    // We will just expose a method to get stats.
+
+    private carConfig: CarConfig;
+
+    constructor(
+        trackData: SerializedTrackData, 
+        config: SimulationConfig = DEFAULT_SIM_CONFIG,
+        genomes: Float32Array[] = [],
+        carConfig: CarConfig = DEFAULT_CAR_CONFIG
+    ) {
+        this.trackData = trackData;
+        this.config = config;
+        this.genomes = genomes;
+        this.carConfig = carConfig;
+
+        // Create detached engine
+        this.engine = Matter.Engine.create();
+        this.engine.gravity.x = 0;
+        this.engine.gravity.y = 0; // Top down
+
+        // 1. Setup Track from Data
+        this.walls = trackData.walls.map(w => Matter.Bodies.rectangle(
+            w.position.x, w.position.y, w.width, w.height, {
+                isStatic: true,
+                angle: w.angle,
+                label: w.label
+            }
+        ));
+
+        this.checkpoints = trackData.checkpoints.map(cp => Matter.Bodies.rectangle(
+            cp.position.x, cp.position.y, cp.width, cp.height, {
+                isStatic: true,
+                isSensor: true,
+                angle: cp.angle,
+                label: cp.label
+            }
+        ));
+
+        Matter.World.add(this.engine.world, this.walls);
+        Matter.World.add(this.engine.world, this.checkpoints);
+
+        // Events
+        Matter.Events.on(this.engine, 'collisionStart', (e) => this.handleCollisions(e));
+
+        // 2. Spawn
+        this.spawnGeneration();
+    }
+
+    public update() {
+        // Step Physics directly
+        Matter.Engine.update(this.engine, 1000 / 60);
+
+        // Update Cars Logic
+        let aliveCount = 0;
+        this.cars.forEach(car => {
+            if (!car.isDead) {
+                car.update(this.walls, this.trackData.pathPoints);
+                aliveCount++;
+            }
+        });
+
+        if (aliveCount === 0) {
+            this.nextGeneration();
+        }
+    }
+
+    private spawnGeneration() {
+        // Cleanup bodies
+        this.cars.forEach(c => Matter.World.remove(this.engine.world, c.body));
+        this.cars = [];
+
+        // If we have genomes, use them. Otherwise mock.
+        const effectivePopSize = this.genomes.length > 0 ? this.genomes.length : this.config.populationSize;
+        const layerSizes = [6, 16, 12, 2]; // Input (5 rays + 1 speed), Hidden, Output
+
+        for (let i = 0; i < effectivePopSize; i++) {
+            let network: DenseNetwork;
+
+            if (this.genomes.length > 0) {
+                 network = new DenseNetwork(layerSizes, this.genomes[i]);
+            } else {
+                 // Random new
+                 network = new DenseNetwork(layerSizes);
+            }
+
+            const car = new Car(
+                this.trackData.startPosition.x, 
+                this.trackData.startPosition.y,
+                network,
+                this.trackData.startAngle + Math.PI / 2,
+                this.carConfig
+            );
+
+            Matter.World.add(this.engine.world, car.body);
+            this.cars.push(car);
+        }
+    }
+
+    public onGenerationComplete?: (stats: { generation: number, best: number, average: number }) => void;
+
+    private nextGeneration() {
+        // In Worker Mode, we don't proceed to next generation automatically.
+        // We stop and return result.
+        // But for compatibility with internal loop if needed:
+        
+        // Return results via callback if set?
+        // Or just stop.
+    }
+
+    // Helper to get results
+    public getResults() {
+        return this.cars.map((c, i) => ({
+            fitness: c.fitness,
+            checkpoints: c.checkpointsPassed,
+            genome: this.genomes[i]
+        }));
+    }
+
+    public isFinished(): boolean {
+        return this.cars.every(c => c.isDead);
+    }
+
+    public run(steps: number) {
+        for(let i=0; i<steps; i++) {
+            this.update();
+            // Check if all dead to early exit?
+            if (this.cars.every(c => c.isDead)) break;
+        }
+    }
+
+    private handleCollisions(event: Matter.IEventCollision<Matter.Engine>) {
+        event.pairs.forEach(pair => {
+            const { bodyA, bodyB } = pair;
+            this.checkCarWallCollision(bodyA, bodyB);
+        });
+    }
+
+    private checkCarWallCollision(bodyA: Matter.Body, bodyB: Matter.Body) {
+        const carBody = bodyA.label === 'car' ? bodyA : (bodyB.label === 'car' ? bodyB : null);
+        const wallBody = bodyA.label === 'wall' ? bodyA : (bodyB.label === 'wall' ? bodyB : null);
+
+        if (carBody && wallBody) {
+            const car = this.cars.find(c => c.body === carBody);
+            if (car) car.kill();
+        }
+    }
+    public updateConfig(carConfig: CarConfig) {
+        this.cars.forEach(car => {
+            car.config = carConfig; // Update config ref
+            // Apply physics properties directly to body
+            Matter.Body.set(car.body, {
+                frictionAir: carConfig.frictionAir,
+                friction: carConfig.friction
+            });
+        });
+    }
+}
diff --git a/src/apps/SelfDrivingCar/ConfigPanel.tsx b/src/apps/SelfDrivingCar/ConfigPanel.tsx
new file mode 100644
index 0000000..1035244
--- /dev/null
+++ b/src/apps/SelfDrivingCar/ConfigPanel.tsx
@@ -0,0 +1,159 @@
+import React, { useState } from 'react';
+import type { CarConfig, SimulationConfig } from './types';
+
+interface ConfigPanelProps {
+    carConfig: CarConfig;
+    simConfig: SimulationConfig;
+    onCarConfigChange: (config: CarConfig) => void;
+    onSimConfigChange: (config: SimulationConfig) => void;
+    onNewTrack: () => void;
+}
+
+export function ConfigPanel({ carConfig, simConfig, onCarConfigChange, onSimConfigChange, onNewTrack }: ConfigPanelProps) {
+    const [isExpanded, setIsExpanded] = useState(true);
+
+    const sliderStyle = { width: '100%', margin: '5px 0' };
+    const labelStyle = { display: 'flex', justifyContent: 'space-between', fontSize: '12px', color: '#ccc' };
+    const groupStyle = { marginBottom: '15px', borderBottom: '1px solid #444', paddingBottom: '10px' };
+
+    const updateCar = (key: keyof CarConfig, value: number) => {
+        onCarConfigChange({ ...carConfig, [key]: value });
+    };
+
+    const updateSim = (key: keyof SimulationConfig, value: number) => {
+        onSimConfigChange({ ...simConfig, [key]: value });
+    };
+
+    return (
+        <div style={{
+            position: 'absolute',
+            top: 170,
+            right: 20,
+            width: isExpanded ? '250px' : 'auto',
+            background: 'rgba(0,0,0,0.8)',
+            padding: '10px',
+            borderRadius: '8px',
+            color: 'white',
+            backdropFilter: 'blur(5px)',
+            maxHeight: 'calc(100vh - 40px)',
+            overflowY: 'auto',
+            transition: 'width 0.2s'
+        }}>
+            <div
+                style={{
+                    display: 'flex',
+                    justifyContent: 'space-between',
+                    alignItems: 'center',
+                    cursor: 'pointer',
+                    borderBottom: isExpanded ? '1px solid #666' : 'none',
+                    paddingBottom: isExpanded ? '5px' : '0',
+                    marginBottom: isExpanded ? '10px' : '0'
+                }}
+                onClick={() => setIsExpanded(!isExpanded)}
+            >
+                <h3 style={{ margin: 0, fontSize: '14px' }}>Configuration</h3>
+                <span style={{ fontSize: '12px', marginLeft: '10px' }}>{isExpanded ? '▼' : '◀'}</span>
+            </div>
+
+            {isExpanded && (
+                <>
+                    <div style={groupStyle}>
+                        <h4 style={{ margin: '5px 0', color: '#4ecdc4' }}>Car Physics</h4>
+
+                        <div style={labelStyle}>
+                            <span>Max Speed</span>
+                            <span>{carConfig.maxSpeed.toFixed(1)}</span>
+                        </div>
+                        <input
+                            type="range" min="5" max="25" step="0.5"
+                            value={carConfig.maxSpeed}
+                            onChange={(e) => updateCar('maxSpeed', parseFloat(e.target.value))}
+                            style={sliderStyle}
+                        />
+
+                        <div style={labelStyle}>
+                            <span>Turn Speed</span>
+                            <span>{carConfig.turnSpeed.toFixed(2)}</span>
+                        </div>
+                        <input
+                            type="range" min="0.02" max="0.20" step="0.01"
+                            value={carConfig.turnSpeed}
+                            onChange={(e) => updateCar('turnSpeed', parseFloat(e.target.value))}
+                            style={sliderStyle}
+                        />
+
+                        <div style={labelStyle}>
+                            <span>Tire Grip (Lateral)</span>
+                            <span>{(carConfig.lateralFriction * 100).toFixed(0)}%</span>
+                        </div>
+                        <input
+                            type="range" min="0.5" max="0.99" step="0.01"
+                            value={carConfig.lateralFriction}
+                            onChange={(e) => updateCar('lateralFriction', parseFloat(e.target.value))}
+                            style={sliderStyle}
+                        />
+
+                        <div style={labelStyle}>
+                            <span>Air Resistance</span>
+                            <span>{(carConfig.frictionAir * 1000).toFixed(0)}</span>
+                        </div>
+                        <input
+                            type="range" min="0.00" max="0.20" step="0.005"
+                            value={carConfig.frictionAir}
+                            onChange={(e) => updateCar('frictionAir', parseFloat(e.target.value))}
+                            style={sliderStyle}
+                        />
+                    </div>
+
+                    <div style={groupStyle}>
+                        <h4 style={{ margin: '5px 0', color: '#ff6b6b' }}>Track Gen</h4>
+
+                        <div style={labelStyle}>
+                            <span>Complexity (Wiggle)</span>
+                            <span>{(simConfig.trackComplexity * 100).toFixed(0)}%</span>
+                        </div>
+                        <input
+                            type="range" min="0.1" max="1.0" step="0.01"
+                            value={simConfig.trackComplexity}
+                            onChange={(e) => updateSim('trackComplexity', parseFloat(e.target.value))}
+                            style={sliderStyle}
+                        />
+
+                        <div style={labelStyle}>
+                            <span>Length (Nodes)</span>
+                            <span>{simConfig.trackLength}</span>
+                        </div>
+                        <input
+                            type="range" min="10" max="60" step="1"
+                            value={simConfig.trackLength}
+                            onChange={(e) => updateSim('trackLength', parseInt(e.target.value))}
+                            style={sliderStyle}
+                        />
+
+                        <button
+                            onClick={onNewTrack}
+                            style={{
+                                width: '100%',
+                                marginTop: '10px',
+                                background: '#ff6b6b',
+                                border: 'none',
+                                padding: '8px',
+                                borderRadius: '4px',
+                                cursor: 'pointer',
+                                fontWeight: 'bold',
+                                color: 'white'
+                            }}
+                        >
+                            Generate New Track
+                        </button>
+                    </div>
+
+                    <div style={{ fontSize: '10px', color: '#888', textAlign: 'center' }}>
+                        Physics apply immediately.<br />
+                        Track settings apply on generate.
+                    </div>
+                </>
+            )}
+        </div>
+    );
+}
diff --git a/src/apps/SelfDrivingCar/FitnessGraph.tsx b/src/apps/SelfDrivingCar/FitnessGraph.tsx
new file mode 100644
index 0000000..408d832
--- /dev/null
+++ b/src/apps/SelfDrivingCar/FitnessGraph.tsx
@@ -0,0 +1,140 @@
+interface FitnessGraphProps {
+    history: Array<{ generation: number; best: number; average: number }>;
+    width?: number | string;
+    height?: number | string;
+    className?: string;
+}
+
+export default function FitnessGraph({ history, width = "100%", height = 150, className = "" }: FitnessGraphProps) {
+    if (history.length < 2) {
+        return (
+            <div style={{
+                width,
+                height,
+                display: 'flex',
+                alignItems: 'center',
+                justifyContent: 'center',
+                color: '#666',
+                fontSize: '0.8rem',
+                background: 'rgba(0,0,0,0.2)',
+                borderRadius: '4px'
+            }}>
+                Waiting for data...
+            </div>
+        );
+    }
+
+    const PADDING = 20; // Internal padding
+    // Use internal coordinate system for viewBox
+    const VIEW_WIDTH = 500;
+    const VIEW_HEIGHT = 200;
+
+    const GRAPH_WIDTH = VIEW_WIDTH - PADDING * 2;
+    const GRAPH_HEIGHT = VIEW_HEIGHT - PADDING * 2;
+
+    // Find min/max for scaling
+    const maxFitness = Math.max(...history.map(h => h.best), 1);
+    const minGeneration = history[0].generation;
+    const maxGeneration = history[history.length - 1].generation;
+    const genRange = Math.max(maxGeneration - minGeneration, 1);
+
+    // Helper to scale points
+    const getX = (gen: number) => {
+        return PADDING + ((gen - minGeneration) / genRange) * GRAPH_WIDTH;
+    };
+
+    const getY = (fitness: number) => {
+        // Invert Y because SVG 0 is top
+        return PADDING + GRAPH_HEIGHT - (fitness / maxFitness) * GRAPH_HEIGHT;
+    };
+
+    // Generate path data
+    const bestPath = history.map((p, i) =>
+        `${i === 0 ? 'M' : 'L'} ${getX(p.generation)} ${getY(p.best)}`
+    ).join(' ');
+
+    const averagePath = history.map((p, i) =>
+        `${i === 0 ? 'M' : 'L'} ${getX(p.generation)} ${getY(p.average)}`
+    ).join(' ');
+
+
+    // Areas (closed paths for gradients)
+    const bestArea = bestPath + ` L ${getX(history[history.length - 1].generation)} ${GRAPH_HEIGHT + PADDING} L ${getX(minGeneration)} ${GRAPH_HEIGHT + PADDING} Z`;
+    const averageArea = averagePath + ` L ${getX(history[history.length - 1].generation)} ${GRAPH_HEIGHT + PADDING} L ${getX(minGeneration)} ${GRAPH_HEIGHT + PADDING} Z`;
+
+    return (
+        <div className={`fitness-graph-container ${className}`} style={{ width: '100%', height, position: 'relative' }}>
+            {/* Legend Overlay */}
+            <div style={{
+                position: 'absolute',
+                top: 0,
+                right: 0,
+                display: 'flex',
+                gap: '12px',
+                fontSize: '0.75rem',
+                fontWeight: 600,
+                background: 'rgba(0,0,0,0.4)',
+                padding: '4px 8px',
+                borderRadius: '0 0 0 8px',
+                pointerEvents: 'none',
+                backdropFilter: 'blur(2px)'
+            }}>
+                <div style={{ color: '#4ecdc4', display: 'flex', alignItems: 'center', gap: '6px' }}>
+                    <div style={{ width: 8, height: 8, background: '#4ecdc4', borderRadius: '50%' }}></div>
+                    Best: {Math.round(history[history.length - 1].best)}
+                </div>
+                <div style={{ color: '#4a9eff', display: 'flex', alignItems: 'center', gap: '6px' }}>
+                    <div style={{ width: 8, height: 8, background: '#4a9eff', borderRadius: '50%' }}></div>
+                    Avg: {Math.round(history[history.length - 1].average)}
+                </div>
+            </div>
+
+            <svg
+                width="100%"
+                height="100%"
+                viewBox={`0 0 ${VIEW_WIDTH} ${VIEW_HEIGHT}`}
+                preserveAspectRatio="none"
+                style={{ overflow: 'visible' }}
+            >
+                <defs>
+                    <linearGradient id="gradBest" x1="0%" y1="0%" x2="0%" y2="100%">
+                        <stop offset="0%" stopColor="#4ecdc4" stopOpacity={0.4} />
+                        <stop offset="100%" stopColor="#4ecdc4" stopOpacity={0} />
+                    </linearGradient>
+                    <linearGradient id="gradAvg" x1="0%" y1="0%" x2="0%" y2="100%">
+                        <stop offset="0%" stopColor="#4a9eff" stopOpacity={0.3} />
+                        <stop offset="100%" stopColor="#4a9eff" stopOpacity={0} />
+                    </linearGradient>
+                </defs>
+
+                {/* Grid Lines (Horizontal) */}
+                {[0, 0.25, 0.5, 0.75, 1].map(ratio => {
+                    const y = PADDING + ratio * GRAPH_HEIGHT;
+                    return (
+                        <line
+                            key={ratio}
+                            x1={PADDING}
+                            y1={y}
+                            x2={VIEW_WIDTH - PADDING}
+                            y2={y}
+                            stroke="#333"
+                            strokeWidth="1"
+                            strokeDasharray="4 4"
+                            opacity="0.5"
+                        />
+                    );
+                })}
+
+                {/* Average Area */}
+                <path d={averageArea} fill="url(#gradAvg)" />
+                {/* Average Line */}
+                <path d={averagePath} fill="none" stroke="#4a9eff" strokeWidth="2" strokeOpacity="0.8" />
+
+                {/* Best Area */}
+                <path d={bestArea} fill="url(#gradBest)" />
+                {/* Best Line */}
+                <path d={bestPath} fill="none" stroke="#4ecdc4" strokeWidth="2.5" />
+            </svg>
+        </div>
+    );
+}
diff --git a/src/apps/SelfDrivingCar/SelfDrivingCarApp.tsx b/src/apps/SelfDrivingCar/SelfDrivingCarApp.tsx
new file mode 100644
index 0000000..4f55996
--- /dev/null
+++ b/src/apps/SelfDrivingCar/SelfDrivingCarApp.tsx
@@ -0,0 +1,111 @@
+import { useRef, useState, useEffect } from 'react';
+import { CarScene } from './CarScene';
+import { ConfigPanel } from './ConfigPanel';
+import FitnessGraph from './FitnessGraph';
+import { DEFAULT_CAR_CONFIG, DEFAULT_SIM_CONFIG } from './types';
+import type { CarConfig, SimulationConfig } from './types';
+
+export function SelfDrivingCarApp() {
+    const gameContainer = useRef<HTMLDivElement>(null);
+    const gameInstance = useRef<Phaser.Game | null>(null);
+    const [history, setHistory] = useState<Array<{ generation: number, best: number, average: number }>>([]);
+
+    // Config State
+    const [carConfig, setCarConfig] = useState<CarConfig>(DEFAULT_CAR_CONFIG);
+    const [simConfig, setSimConfig] = useState<SimulationConfig>(DEFAULT_SIM_CONFIG);
+
+    useEffect(() => {
+        if (!gameContainer.current || gameInstance.current) return;
+
+        const config: Phaser.Types.Core.GameConfig = {
+            type: Phaser.AUTO,
+            parent: gameContainer.current,
+            width: gameContainer.current.clientWidth,
+            height: gameContainer.current.clientHeight,
+            backgroundColor: '#222222',
+            physics: {
+                default: 'matter',
+                matter: {
+                    gravity: { x: 0, y: 0 },
+                    debug: false
+                }
+            },
+            scene: [CarScene],
+            scale: {
+                mode: Phaser.Scale.RESIZE,
+                autoCenter: Phaser.Scale.CENTER_BOTH
+            }
+        };
+
+        const game = new Phaser.Game(config);
+        gameInstance.current = game;
+
+        // Init config in scene once ready?
+        // Actually Scene starts immediately. We can emit config update shortly after or pass safely.
+
+        // Listen for stats
+        const onGenerationComplete = (stats: { generation: number, best: number, average: number }) => {
+            setHistory(prev => {
+                const newHistory = [...prev, stats];
+                if (newHistory.length > 50) return newHistory.slice(newHistory.length - 50);
+                return newHistory;
+            });
+        };
+
+        game.events.on('generation-complete', onGenerationComplete);
+
+        return () => {
+            if (gameInstance.current) {
+                gameInstance.current.events.off('generation-complete', onGenerationComplete);
+                gameInstance.current.destroy(true);
+                gameInstance.current = null;
+            }
+        };
+    }, []);
+
+    // Sync Config to Scene
+    useEffect(() => {
+        if (gameInstance.current) {
+            gameInstance.current.events.emit('update-config', { car: carConfig, sim: simConfig });
+        }
+    }, [carConfig, simConfig]);
+
+    const handleNewTrack = () => {
+        if (gameInstance.current) {
+            gameInstance.current.events.emit('new-track');
+        }
+    };
+
+    return (
+        <div style={{ width: '100%', height: '100%', position: 'relative', display: 'flex', flexDirection: 'column', overflow: 'hidden' }}>
+            {/* Top Bar for Graph */}
+            <div style={{
+                height: '150px',
+                background: '#1a1a1a',
+                padding: '10px',
+                borderBottom: '1px solid #333',
+                zIndex: 10
+            }}>
+                <FitnessGraph history={history} height="100%" />
+            </div>
+
+            <div
+                style={{ flex: 1, position: 'relative', overflow: 'hidden' }}
+            >
+                <div
+                    ref={gameContainer}
+                    style={{ width: '100%', height: '100%' }}
+                />
+            </div>
+
+            {/* Config Panel */}
+            <ConfigPanel
+                carConfig={carConfig}
+                simConfig={simConfig}
+                onCarConfigChange={setCarConfig}
+                onSimConfigChange={setSimConfig}
+                onNewTrack={handleNewTrack}
+            />
+        </div>
+    );
+}
diff --git a/src/apps/SelfDrivingCar/SimpleGA.ts b/src/apps/SelfDrivingCar/SimpleGA.ts
new file mode 100644
index 0000000..1404aa2
--- /dev/null
+++ b/src/apps/SelfDrivingCar/SimpleGA.ts
@@ -0,0 +1,121 @@
+
+import { DenseNetwork } from '../../apps/LunarLander/DenseNetwork';
+
+export interface GAConfig {
+    populationSize: number;
+    mutationRate: number;
+    mutationAmount: number;
+    elitism: number; // Number of best agents to keep unchanged
+}
+
+export const DEFAULT_GA_CONFIG: GAConfig = {
+    populationSize: 50,
+    mutationRate: 0.05,   // Reduced from 0.1
+    mutationAmount: 0.2,  // Reduced from 0.5
+    elitism: 5
+};
+
+export class SimpleGA {
+    private layerSizes: number[];
+    private config: GAConfig;
+
+    constructor(layerSizes: number[], config: GAConfig = DEFAULT_GA_CONFIG) {
+        this.layerSizes = layerSizes;
+        this.config = config;
+    }
+
+    createPopulation(): Float32Array[] {
+        const pop: Float32Array[] = [];
+        // Helper to get weight count
+        // We create a dummy network to calculate size easily, or duplicate logic.
+        // Duplicating logic is safer to avoid instantiation overhead if large.
+        // Logic from DenseNetwork: sum((full_in + 1) * out)
+        // Let's just instantiate one to be sure.
+        const dummy = new DenseNetwork(this.layerSizes);
+        const size = dummy.getWeights().length;
+
+        for (let i = 0; i < this.config.populationSize; i++) {
+            const dn = new DenseNetwork(this.layerSizes);
+            pop.push(dn.getWeights());
+        }
+        return pop;
+    }
+
+    evolve(currentPop: Float32Array[], fitnesses: number[]): Float32Array[] {
+        // 1. Sort by fitness (descending)
+        const indices = currentPop.map((_, i) => i).sort((a, b) => fitnesses[b] - fitnesses[a]);
+        
+        const nextPop: Float32Array[] = [];
+        const popSize = this.config.populationSize;
+
+        // 2. Elitism
+        for (let i = 0; i < this.config.elitism; i++) {
+            if (i < indices.length) {
+                // Keep exact copy
+                nextPop.push(new Float32Array(currentPop[indices[i]]));
+            }
+        }
+
+        // 3. Fill rest
+        while (nextPop.length < popSize) {
+            // Diversity Injection (Random Immigrants)
+            // 5% chance to just insert a completely fresh brain to maintain diversity
+            if (Math.random() < 0.05) {
+                const dn = new DenseNetwork(this.layerSizes);
+                nextPop.push(dn.getWeights());
+                continue;
+            }
+
+            // Tournament selection
+            const p1 = currentPop[this.tournamentSelect(indices, fitnesses)];
+            const p2 = currentPop[this.tournamentSelect(indices, fitnesses)];
+
+            // Crossover
+            const child = this.crossover(p1, p2);
+
+            // Mutation
+            this.mutate(child);
+
+            nextPop.push(child);
+        }
+
+        return nextPop;
+    }
+
+    private tournamentSelect(indices: number[], fitnesses: number[]): number {
+        const k = 3;
+        let bestIndex = -1;
+        let bestFitness = -Infinity;
+
+        for (let i = 0; i < k; i++) {
+            const randIdx = indices[Math.floor(Math.random() * indices.length)]; // Pick from sorted or unsorted? 
+            // Better to pick pure random index from 0..popSize-1
+            const r = Math.floor(Math.random() * indices.length);
+            const realIdx = indices[r];
+            if (fitnesses[realIdx] > bestFitness) {
+                bestFitness = fitnesses[realIdx];
+                bestIndex = realIdx;
+            }
+        }
+        return bestIndex;
+    }
+
+    private crossover(w1: Float32Array, w2: Float32Array): Float32Array {
+        const child = new Float32Array(w1.length);
+        // Uniform crossover? Or Split?
+        // Uniform is good for weights.
+        for (let i = 0; i < w1.length; i++) {
+            child[i] = Math.random() < 0.5 ? w1[i] : w2[i];
+        }
+        return child;
+    }
+
+    private mutate(weights: Float32Array) {
+        for (let i = 0; i < weights.length; i++) {
+            if (Math.random() < this.config.mutationRate) {
+                weights[i] += (Math.random() * 2 - 1) * this.config.mutationAmount;
+                // Clamp? Optional. Tanh handles range usually.
+            }
+        }
+    }
+}
diff --git a/src/apps/SelfDrivingCar/Track.ts b/src/apps/SelfDrivingCar/Track.ts
new file mode 100644
index 0000000..c4e82fb
--- /dev/null
+++ b/src/apps/SelfDrivingCar/Track.ts
@@ -0,0 +1,215 @@
+import Phaser from 'phaser';
+import Matter from 'matter-js';
+// @ts-ignore
+import decomp from 'poly-decomp';
+
+(window as any).decomp = decomp; // Matter.js requires it on window or Common
+// Or better:
+Matter.Common.setDecomp(decomp);
+
+export interface TrackData {
+    innerWalls: Phaser.Math.Vector2[];
+    outerWalls: Phaser.Math.Vector2[];
+    pathPoints: Phaser.Math.Vector2[]; // For logic/fitness
+    centerLine: Phaser.Curves.Spline;
+    checkpoints: Matter.Body[];
+    walls: Matter.Body[];
+    startPosition: Phaser.Math.Vector2;
+    startAngle: number;
+}
+
+export class TrackGenerator {
+    private width: number;
+    private height: number;
+    private trackWidth: number;
+
+    constructor(width: number, height: number, trackWidth: number = 80) {
+        this.width = width;
+        this.height = height;
+        this.trackWidth = trackWidth;
+    }
+
+    public generate(complexity: number = 0.5, length: number = 25): TrackData {
+        // 1. Generate Control Points (Rough Circle with Noise)
+        const center = new Phaser.Math.Vector2(this.width / 2, this.height / 2);
+        const controlPoints: Phaser.Math.Vector2[] = [];
+        
+        const numPoints = length; 
+        const baseRadius = Math.min(this.width, this.height) * 0.35;
+        const radiusVariation = baseRadius * 0.3 * complexity; // Smooth variation
+
+        for (let i = 0; i < numPoints; i++) {
+            const angle = (i / numPoints) * Math.PI * 2;
+            const r = baseRadius + (Math.random() * 2 - 1) * radiusVariation;
+            
+            // Minimal angle noise to prevent loop-backs
+            const angleNoise = (Math.random() - 0.5) * (Math.PI * 2 / numPoints) * 0.1 * complexity;
+            
+            controlPoints.push(new Phaser.Math.Vector2(
+                center.x + Math.cos(angle + angleNoise) * r,
+                center.y + Math.sin(angle + angleNoise) * r
+            ));
+        }
+
+        // 2. Closed Loop Spline
+        // To make it loop smoothly, we copy the first 3 points to the end.
+        const closedPoints = [
+            ...controlPoints,
+            controlPoints[0],
+            controlPoints[1],
+            controlPoints[2]
+        ];
+
+        const spline = new Phaser.Curves.Spline(closedPoints);
+
+        // 3. Create Geometry
+        // Sample at fixed DISTANCE, not t-steps, for uniform width
+        return this.createGeometry(spline, controlPoints.length);
+    }
+
+    private createGeometry(spline: Phaser.Curves.Spline, originalCount: number): TrackData {
+        const resolutionPerSegment = 10; 
+        const points: Phaser.Math.Vector2[] = [];
+        
+        // ... (Sampling logic same) ...
+        const totalSegments = (originalCount + 3) - 1;
+        
+        for (let i = 0; i < originalCount; i++) {
+            const tStart = i / totalSegments;
+            const tEnd = (i + 1) / totalSegments;
+            for (let j = 0; j < resolutionPerSegment; j++) {
+                const t = tStart + (tEnd - tStart) * (j / resolutionPerSegment);
+                const p = spline.getPoint(t);
+                points.push(new Phaser.Math.Vector2(p.x, p.y));
+            }
+        }
+        
+        // Close Loop
+        const p0 = spline.getPoint(0);
+        points.push(new Phaser.Math.Vector2(p0.x, p0.y));
+
+        // CALCULATE VERTEX NORMALS
+        const normals: Phaser.Math.Vector2[] = [];
+        // First compute segment tangents/normals
+        const segmentNormals: Phaser.Math.Vector2[] = [];
+        for (let i = 0; i < points.length - 1; i++) {
+             const p1 = points[i];
+             const p2 = points[i+1];
+             const t = p2.clone().subtract(p1).normalize();
+             segmentNormals.push(new Phaser.Math.Vector2(-t.y, t.x));
+        }
+
+        // Now compute vertex normals (average of adjacent segments)
+        // For i=0 (Start), average(LastSeg, Seg0)
+        // For i=Last (End), average(LastSeg, Seg0) -> Should be same as i=0
+        
+        for (let i = 0; i < points.length; i++) {
+             // Prev Segment
+             let prevIdx = i - 1;
+             if (prevIdx < 0) prevIdx = segmentNormals.length - 1;
+             
+             // Next Segment (current i) generally, but for the last point, it's also the last segment?
+             // Actually: point i connects Seg i-1 and Seg i.
+             // point 0 connects Seg LAST and Seg 0.
+             // point N connects Seg N-1 and Seg 0? Yes if closed.
+             
+             let nextIdx = i;
+             if (nextIdx >= segmentNormals.length) nextIdx = 0; // Wrap valid? 
+             // Wait, points length is N+1. Segments length is N.
+             // points[0] joins Seg[N-1] and Seg[0].
+             // points[N] is same as points[0].
+             
+             // Let's just average generic
+             const n1 = segmentNormals[prevIdx];
+             const n2 = segmentNormals[nextIdx < segmentNormals.length ? nextIdx : 0];
+             
+             const avg = n1.clone().add(n2).normalize();
+             normals.push(avg);
+        }
+
+        const innerWalls: Phaser.Math.Vector2[] = [];
+        const outerWalls: Phaser.Math.Vector2[] = [];
+        const walls: Matter.Body[] = [];
+        const checkpoints: Matter.Body[] = [];
+
+        for (let i = 0; i < points.length - 1; i++) {
+            const p1 = points[i];
+            const p2 = points[i + 1];
+            
+            const n1 = normals[i];
+            const n2 = normals[i+1];
+
+            // Vertices using Smooth Normals
+            const outer1 = p1.clone().add(n1.clone().scale(this.trackWidth / 2));
+            const inner1 = p1.clone().add(n1.clone().scale(-this.trackWidth / 2));
+            const outer2 = p2.clone().add(n2.clone().scale(this.trackWidth / 2));
+            const inner2 = p2.clone().add(n2.clone().scale(-this.trackWidth / 2));
+
+            outerWalls.push(outer1);
+            innerWalls.push(inner1);
+
+            // Walls (Trapezoids)
+            const thickness = 20;
+            const outer1_T = outer1.clone().add(n1.clone().scale(thickness));
+            const outer2_T = outer2.clone().add(n2.clone().scale(thickness));
+            
+            const wallLeft = Matter.Bodies.fromVertices(
+                (outer1.x + outer2.x + outer1_T.x + outer2_T.x)/4,
+                (outer1.y + outer2.y + outer1_T.y + outer2_T.y)/4,
+                [[outer1, outer2, outer2_T, outer1_T]],
+                { isStatic: true, label: 'wall' }
+            );
+            if (wallLeft) walls.push(wallLeft);
+
+            const inner1_T = inner1.clone().add(n1.clone().scale(-thickness));
+            const inner2_T = inner2.clone().add(n2.clone().scale(-thickness));
+            
+            const wallRight = Matter.Bodies.fromVertices(
+                (inner1.x + inner2.x + inner1_T.x + inner2_T.x)/4,
+                (inner1.y + inner2.y + inner1_T.y + inner2_T.y)/4,
+                [[inner1, inner2, inner2_T, inner1_T]],
+                { isStatic: true, label: 'wall' }
+            );
+            if (wallRight) walls.push(wallRight);
+
+            // Circle Joints (Still useful for sharp corners, but smooth normals handle gaps)
+            if (true) {
+                 // Place at vertices (p1/p2)
+                 // We only need to place at p1 for each segment to cover the seam.
+                 // Actually with smooth normals, outer2(i-1) === outer1(i). Guaranteed.
+                 // So no gaps!
+                 // But Sharp Corners might still have physics issues if convex?
+                 // No, smooth normals rounds the corner.
+                 // We don't need joints anymore!
+            }
+
+            // ... Checkpoints logic ...
+            if (points.length > 50 && i % Math.floor(points.length / 10) === 0) {
+                 // Use segment tangent for angle
+                 const tangent = p2.clone().subtract(p1).normalize(); 
+                 const cpMid = p1.clone();
+                 checkpoints.push(Matter.Bodies.rectangle(cpMid.x, cpMid.y, 10, this.trackWidth, {
+                    isSensor: true,
+                    isStatic: true,
+                    angle: Math.atan2(tangent.y, tangent.x),
+                    label: `checkpoint_${checkpoints.length}`
+                }));
+            }
+        }
+        
+        // Start Position (First point)
+        const startP = points[0];
+        const startT = points[1].clone().subtract(points[0]).normalize();
+
+        return {
+            innerWalls,
+            outerWalls,
+            pathPoints: points, // These are the high-res samples
+            centerLine: spline,
+            checkpoints,
+            walls,
+            startPosition: startP,
+            startAngle: Math.atan2(startT.y, startT.x)
+        };
+    }
+}
diff --git a/src/apps/SelfDrivingCar/e2e_evolution.test.ts b/src/apps/SelfDrivingCar/e2e_evolution.test.ts
new file mode 100644
index 0000000..e995d63
--- /dev/null
+++ b/src/apps/SelfDrivingCar/e2e_evolution.test.ts
@@ -0,0 +1,91 @@
+
+import { describe, expect, it } from 'bun:test';
+import { SimpleGA, DEFAULT_GA_CONFIG } from './SimpleGA';
+import { CarSimulation } from './CarSimulation';
+// import { TrackGenerator } from './Track';
+import { DEFAULT_SIM_CONFIG } from './types';
+import type { SerializedTrackData } from './types';
+
+describe('Car Evolution E2E', () => {
+
+    // Hardcoded simple square track (cw)
+    // 0,0 -> 800,0 -> 800,600 -> 0,600 -> 0,0 (Outline)
+    // 100,100 -> 700,100 -> 700,500 -> 100,500 -> 100,100 (Inner)
+    
+    const serializedTrack: SerializedTrackData = {
+        innerWalls: [
+            {x: 100, y: 100}, {x: 700, y: 100}, {x: 700, y: 500}, {x: 100, y: 500}
+        ],
+        outerWalls: [
+            {x: 0, y: 0}, {x: 800, y: 0}, {x: 800, y: 600}, {x: 0, y: 600}
+        ],
+        startPosition: { x: 400, y: 50 }, // Top middle
+        startAngle: 0, // Facing right?
+        walls: [
+             // Top wall
+             { position: {x: 400, y: 0}, width: 800, height: 20, angle: 0, label: 'wall', isSensor: false},
+             // Bottom wall
+             { position: {x: 400, y: 600}, width: 800, height: 20, angle: 0, label: 'wall', isSensor: false},
+             // Left wall
+             { position: {x: 0, y: 300}, width: 20, height: 600, angle: 0, label: 'wall', isSensor: false},
+             // Right wall
+             { position: {x: 800, y: 300}, width: 20, height: 600, angle: 0, label: 'wall', isSensor: false},
+             // Inner box (mocking just center block)
+             { position: {x: 400, y: 300}, width: 200, height: 200, angle: 0, label: 'wall', isSensor: false}
+        ],
+        checkpoints: [
+            // Start
+             { position: {x: 400, y: 50}, width: 200, height: 20, angle: 0, label: 'checkpoint_0', isSensor: true},
+             // Corner 1 (Right)
+             { position: {x: 750, y: 50}, width: 20, height: 200, angle: 0, label: 'checkpoint_1', isSensor: true},
+             // Corner 2 (Right Bottom)
+             { position: {x: 750, y: 550}, width: 20, height: 200, angle: 0, label: 'checkpoint_2', isSensor: true}
+        ]
+    };
+
+    it('should improve fitness over 50 generations', async () => {
+        const fs = require('fs');
+        const logFile = 'e2e_log.txt';
+        fs.writeFileSync(logFile, 'Starting Test...\n');
+
+        const log = (msg: string) => fs.appendFileSync(logFile, msg + '\n');
+
+        try {
+            const ga = new SimpleGA([6, 16, 12, 2], DEFAULT_GA_CONFIG);
+            let population = ga.createPopulation();
+            
+            let initialBest = 0;
+            let finalBest = 0;
+
+            log('Starting E2E Evolution Test (50 Gens)...');
+
+            for (let gen = 0; gen < 50; gen++) {
+                // Run Simulation
+                const sim = new CarSimulation(serializedTrack, DEFAULT_SIM_CONFIG, population);
+                sim.run(1000); 
+                
+                const results = sim.getResults();
+                const fitnesses = results.map(r => r.fitness);
+                
+                const best = Math.max(...fitnesses);
+                const avg = fitnesses.reduce((a,b)=>a+b, 0) / fitnesses.length;
+
+                if (gen === 0) initialBest = best;
+                if (gen === 49) finalBest = best;
+
+                if (gen % 10 === 0 || gen === 49) {
+                    log(`Gen ${gen}: Best: ${best.toFixed(2)}, Avg: ${avg.toFixed(2)}`);
+                }
+
+                population = ga.evolve(population, fitnesses);
+            }
+
+            log(`Evolution Result: ${initialBest.toFixed(2)} -> ${finalBest.toFixed(2)}`);
+
+            expect(finalBest).toBeGreaterThan(10); 
+        } catch (e) {
+            log(`ERROR: ${e}`);
+            throw e;
+        }
+    });
+});
diff --git a/src/apps/SelfDrivingCar/geom.ts b/src/apps/SelfDrivingCar/geom.ts
new file mode 100644
index 0000000..ce8a35a
--- /dev/null
+++ b/src/apps/SelfDrivingCar/geom.ts
@@ -0,0 +1,32 @@
+
+export interface Point {
+    x: number;
+    y: number;
+}
+
+export function distance(p1: Point, p2: Point): number {
+    const dx = p1.x - p2.x;
+    const dy = p1.y - p2.y;
+    return Math.sqrt(dx * dx + dy * dy);
+}
+
+export function lineToLineIntersection(
+    x1: number, y1: number, x2: number, y2: number,
+    x3: number, y3: number, x4: number, y4: number
+): Point | null {
+    const denom = (y4 - y3) * (x2 - x1) - (x4 - x3) * (y2 - y1);
+    
+    if (denom === 0) return null; // Parallel
+
+    const ua = ((x4 - x3) * (y1 - y3) - (y4 - y3) * (x1 - x3)) / denom;
+    const ub = ((x2 - x1) * (y1 - y3) - (y2 - y1) * (x1 - x3)) / denom;
+
+    if (ua >= 0 && ua <= 1 && ub >= 0 && ub <= 1) {
+        return {
+            x: x1 + ua * (x2 - x1),
+            y: y1 + ua * (y2 - y1)
+        };
+    }
+
+    return null;
+}
diff --git a/src/apps/SelfDrivingCar/training.worker.ts b/src/apps/SelfDrivingCar/training.worker.ts
new file mode 100644
index 0000000..a673eaf
--- /dev/null
+++ b/src/apps/SelfDrivingCar/training.worker.ts
@@ -0,0 +1,41 @@
+
+import { CarSimulation } from './CarSimulation';
+import type { SerializedTrackData, SimulationConfig, CarConfig } from './types';
+
+interface WorkerMessage {
+    type: 'TRAIN';
+    trackData: SerializedTrackData;
+    genomes: Float32Array[]; // Was Genome[]
+    config: SimulationConfig;
+    carConfig: CarConfig;
+    steps?: number;
+}
+
+self.onmessage = (e: MessageEvent<WorkerMessage>) => {
+    const { type, trackData, genomes, config, carConfig, steps = 3600 } = e.data; // 60s default
+
+    if (type === 'TRAIN') {
+        console.log(`Worker: Starting generation step. Pop: ${genomes.length || config.populationSize}, Steps: ${steps}`);
+        const sim = new CarSimulation(trackData, config, genomes, carConfig);
+        
+        const startTime = performance.now();
+        sim.run(steps);
+        const duration = performance.now() - startTime;
+        
+        console.log(`Worker: Generation complete in ${duration.toFixed(2)}ms. Cars alive: ${sim.cars.filter(c => !c.isDead).length}`);
+
+        const results = sim.getResults();
+
+        // Send back fitnesses
+        // We map results to simple array to reduce transfer cost, or send objects
+        const fitnessMap = results.map(r => ({
+            fitness: r.fitness,
+            checkpoints: r.checkpoints,
+            // We don't need to send genome back if Main thread kept it, 
+            // but sender might need to know which is which. 
+            // Order is preserved.
+        }));
+
+        self.postMessage({ type: 'TRAIN_COMPLETE', results: fitnessMap });
+    }
+};
diff --git a/src/apps/SelfDrivingCar/types.ts b/src/apps/SelfDrivingCar/types.ts
new file mode 100644
index 0000000..fe1c08e
--- /dev/null
+++ b/src/apps/SelfDrivingCar/types.ts
@@ -0,0 +1,70 @@
+
+// import { Vector } from 'matter-js';
+
+export interface CarConfig {
+    width: number;
+    height: number;
+    maxSpeed: number;
+    turnSpeed: number;
+    rayCount: number;
+    rayLength: number;
+    raySpread: number; // FOV in radians
+    
+    // Physics
+    frictionAir: number; // 0.0-1.0 (Air Resistance/Drag)
+    friction: number; // 0.0-1.0 (Wall Friction)
+    lateralFriction: number; // 0.0-1.0 (Tire Grip. 1.0=Rails, 0.0=Ice)
+}
+
+export interface SimulationConfig {
+    populationSize: number;
+    mutationRate: number;
+    trackComplexity: number; // 0.0-1.0 (Noise/Wiggle)
+    trackLength: number; // 10-100 (Approx number of control points)
+}
+
+export interface SerializedVector { x: number, y: number }
+
+export interface SerializedBody {
+    position: SerializedVector;
+    angle: number;
+    width: number;
+    height: number;
+    label: string;
+    isSensor: boolean;
+    vertices?: SerializedVector[];
+}
+
+export interface SerializedTrackData {
+    innerWalls: SerializedVector[];
+    outerWalls: SerializedVector[];
+    pathPoints: SerializedVector[]; // Center line points for fitness tracking
+    walls: SerializedBody[];
+    checkpoints: SerializedBody[];
+    startPosition: SerializedVector;
+    startAngle: number;
+}
+
+// Physics Tunings Removed (Now in config)
+
+export const DEFAULT_CAR_CONFIG: CarConfig = {
+    width: 20,
+    height: 40,
+    maxSpeed: 12,
+    turnSpeed: 0.15, // Increased from 0.08 for sharper turning
+    rayCount: 5,
+    rayLength: 150,
+    raySpread: Math.PI / 2,
+    
+    // Default Physics (Drifty)
+    frictionAir: 0.02,
+    friction: 0.1,
+    lateralFriction: 0.90
+};
+
+export const DEFAULT_SIM_CONFIG: SimulationConfig = {
+    populationSize: 50,
+    mutationRate: 0.1,
+    trackComplexity: 0.2,
+    trackLength: 25 // Default length
+};
diff --git a/src/components/Sidebar.css b/src/components/Sidebar.css
index 947e445..780bf68 100644
--- a/src/components/Sidebar.css
+++ b/src/components/Sidebar.css
@@ -1,32 +1,48 @@
 .sidebar {
   width: 100%;
-  height: 64px;
-  background: var(--bg-darker);
-  border-bottom: 1px solid var(--border-color);
+  height: 72px;
+  background: var(--glass-bg);
+  backdrop-filter: var(--backdrop-blur);
+  -webkit-backdrop-filter: var(--backdrop-blur);
+  border-bottom: var(--glass-border);
   display: flex;
   align-items: center;
-  padding: 0 1.5rem;
-  box-shadow: 0 4px 24px rgba(0, 0, 0, 0.2);
+  padding: 0 2rem;
+  box-shadow: var(--glass-shadow);
   z-index: 100;
   flex-shrink: 0;
+  position: relative;
+}
+
+/* Add a subtle top highlight line */
+.sidebar::before {
+  content: '';
+  position: absolute;
+  top: 0;
+  left: 0;
+  right: 0;
+  height: 1px;
+  background: linear-gradient(90deg, transparent, rgba(255, 255, 255, 0.2), transparent);
 }
 
 .sidebar-header {
   padding: 0;
-  margin-right: 3rem;
+  margin-right: 4rem;
   border: none;
   display: flex;
   align-items: center;
 }
 
 .sidebar-logo {
-  font-size: 1.5rem;
+  font-size: 1.75rem;
   font-weight: 700;
   margin: 0;
-  background: linear-gradient(135deg, var(--primary) 0%, var(--accent) 100%);
+  background: linear-gradient(135deg, var(--text-primary) 0%, var(--text-secondary) 100%);
   -webkit-background-clip: text;
   -webkit-text-fill-color: transparent;
   background-clip: text;
+  letter-spacing: -0.02em;
+  text-shadow: 0 0 30px rgba(124, 58, 237, 0.3);
 }
 
 .sidebar-nav {
@@ -34,39 +50,72 @@
   display: flex;
   flex-direction: row;
   align-items: center;
-  gap: 0.5rem;
+  gap: 0.75rem;
   height: 100%;
   overflow-x: auto;
+  /* Hide scrollbar */
+  -ms-overflow-style: none;
+  scrollbar-width: none;
+}
+
+.sidebar-nav::-webkit-scrollbar {
+  display: none;
 }
 
 .nav-item {
   display: flex;
   align-items: center;
   justify-content: center;
-  padding: 0.5rem 1rem;
+  padding: 0.6rem 1.25rem;
   background: transparent;
   border: 1px solid transparent;
-  border-radius: 8px;
-  color: rgba(255, 255, 255, 0.7);
+  border-radius: 99px;
+  /* Pill shape */
+  color: var(--text-secondary);
   cursor: pointer;
-  transition: all 0.2s ease;
-  font-size: 0.9rem;
+  transition: all 0.3s cubic-bezier(0.4, 0, 0.2, 1);
+  font-size: 0.95rem;
   text-decoration: none;
   white-space: nowrap;
-}
-
-.nav-item:hover {
-  background: rgba(255, 255, 255, 0.05);
-  color: rgba(255, 255, 255, 0.9);
-}
-
-.nav-item.active {
-  background: rgba(99, 102, 241, 0.1);
-  border-color: rgba(99, 102, 241, 0.3);
-  color: var(--primary);
   font-weight: 500;
+  letter-spacing: 0.01em;
+  position: relative;
+  overflow: hidden;
+}
+
+/* Hover effects */
+.nav-item:hover {
+  color: var(--text-primary);
+  background: rgba(255, 255, 255, 0.03);
+  box-shadow: 0 0 15px rgba(255, 255, 255, 0.05);
+}
+
+/* Active State */
+.nav-item.active {
+  color: var(--text-primary);
+  background: rgba(255, 255, 255, 0.08);
+  /* Lighter bg for active */
+  border-color: rgba(255, 255, 255, 0.1);
+  box-shadow:
+    0 0 0 1px rgba(0, 0, 0, 0.2),
+    inset 0 1px 1px rgba(255, 255, 255, 0.1);
+}
+
+/* Adding a glow dot for active items */
+.nav-item.active::after {
+  content: '';
+  position: absolute;
+  bottom: 0px;
+  left: 50%;
+  transform: translateX(-50%);
+  width: 40%;
+  height: 3px;
+  background: var(--primary);
+  border-radius: 4px 4px 0 0;
+  box-shadow: 0 -2px 8px var(--primary-glow);
 }
 
 .nav-name {
-  font-weight: 500;
+  position: relative;
+  z-index: 2;
 }
\ No newline at end of file
diff --git a/src/components/Sidebar.tsx b/src/components/Sidebar.tsx
index b0580e0..452222e 100644
--- a/src/components/Sidebar.tsx
+++ b/src/components/Sidebar.tsx
@@ -1,7 +1,7 @@
 import { NavLink } from 'react-router-dom';
 import './Sidebar.css';
 
-export type AppId = 'image-approx' | 'snake-ai' | 'rogue-gen' | 'neat-arena' | 'lunar-lander';
+export type AppId = 'image-approx' | 'snake-ai' | 'rogue-gen' | 'neat-arena' | 'lunar-lander' | 'self-driving-car';
 
 export interface AppInfo {
   id: AppId;
@@ -41,6 +41,12 @@ export const APPS: AppInfo[] = [
     name: 'Lunar Lander',
     description: 'Evolve a spaceship to land safely',
   },
+  {
+    id: 'self-driving-car',
+    path: '/self-driving-car',
+    name: 'Self-Driving Car',
+    description: 'Evolve cars to navigate a track',
+  },
 ];
 
 export default function Sidebar() {
diff --git a/src/index.css b/src/index.css
index 57b3d0a..6c46327 100644
--- a/src/index.css
+++ b/src/index.css
@@ -1,30 +1,50 @@
-@import url('https://fonts.googleapis.com/css2?family=Inter:wght@300;400;500;600;700&display=swap');
+@import url('https://fonts.googleapis.com/css2?family=Outfit:wght@300;400;500;600;700&family=JetBrains+Mono:wght@400;700&display=swap');
 
 :root {
-  /* Color palette - lighter, less dark */
-  --primary: #6366f1;
-  --primary-dark: #4f46e5;
-  --primary-light: #818cf8;
-  --accent: #8b5cf6;
-  --bg-dark: #1a1a2e;
-  --bg-darker: #0f1729;
-  --bg-card: rgba(255, 255, 255, 0.05);
-  --text-primary: rgba(255, 255, 255, 0.95);
-  --text-secondary: rgba(255, 255, 255, 0.7);
-  --text-muted: rgba(255, 255, 255, 0.5);
-  --border-color: rgba(255, 255, 255, 0.12);
+  /* Premium Dark Sci-Fi Palette */
+  --bg-dark: #030305;
+  /* Deepest void black */
+  --bg-darker: #000000;
+  /* Pure black for contrast */
+  --bg-card: rgba(20, 20, 35, 0.4);
+  /* Glassy panel background */
+  --bg-card-hover: rgba(30, 30, 50, 0.6);
+
+  /* Accents */
+  --primary: #7c3aed;
+  /* Electric Violet */
+  --primary-glow: rgba(124, 58, 237, 0.5);
+  --accent: #06b6d4;
+  /* Cyan/Teal */
+  --accent-glow: rgba(6, 182, 212, 0.5);
+  --success: #10b981;
+  /* Emerald */
+  --danger: #ef4444;
+  /* Red */
+
+  /* Text elements */
+  --text-primary: #f8fafc;
+  /* Bright white */
+  --text-secondary: #94a3b8;
+  /* Blue-grey */
+  --text-muted: #475569;
+  /* Darker grey */
+
+  /* Structural */
+  --border-color: rgba(255, 255, 255, 0.08);
+  --radius-sm: 4px;
+  --radius-md: 8px;
+  --radius-lg: 16px;
+
+  /* Glassmorphism */
+  --glass-bg: rgba(10, 10, 15, 0.75);
+  --glass-border: 1px solid rgba(255, 255, 255, 0.05);
+  --glass-shadow: 0 8px 32px 0 rgba(0, 0, 0, 0.36);
+  --backdrop-blur: blur(12px);
 
   /* Typography */
-  font-family: 'Inter', system-ui, -apple-system, sans-serif;
-  line-height: 1.6;
-  font-weight: 400;
-  color: var(--text-primary);
-
-  /* Rendering */
-  font-synthesis: none;
-  text-rendering: optimizeLegibility;
-  -webkit-font-smoothing: antialiased;
-  -moz-osx-font-smoothing: grayscale;
+  --font-main: 'Outfit', system-ui, -apple-system, sans-serif;
+  --font-mono: 'JetBrains Mono', monospace;
 }
 
 * {
@@ -35,9 +55,16 @@
 
 body {
   margin: 0;
-  background: var(--bg-dark);
+  background-color: var(--bg-dark);
+  background-image:
+    radial-gradient(circle at 15% 50%, rgba(124, 58, 237, 0.08), transparent 25%),
+    radial-gradient(circle at 85% 30%, rgba(6, 182, 212, 0.08), transparent 25%);
   color: var(--text-primary);
+  font-family: var(--font-main);
+  line-height: 1.6;
   overflow: hidden;
+  -webkit-font-smoothing: antialiased;
+  -moz-osx-font-smoothing: grayscale;
 }
 
 #root {
@@ -45,11 +72,45 @@ body {
   height: 100vh;
 }
 
+/* Scrollbar Styling */
+::-webkit-scrollbar {
+  width: 8px;
+  height: 8px;
+}
+
+::-webkit-scrollbar-track {
+  background: var(--bg-darker);
+}
+
+::-webkit-scrollbar-thumb {
+  background: var(--border-color);
+  border-radius: 4px;
+}
+
+::-webkit-scrollbar-thumb:hover {
+  background: var(--text-muted);
+}
+
 button {
   font-family: inherit;
   cursor: pointer;
 }
 
-input {
+input,
+select,
+textarea {
   font-family: inherit;
+  background: var(--bg-card);
+  border: 1px solid var(--border-color);
+  color: var(--text-primary);
+  border-radius: var(--radius-sm);
+  padding: 0.5rem;
+}
+
+input:focus,
+select:focus,
+textarea:focus {
+  outline: none;
+  border-color: var(--primary);
+  box-shadow: 0 0 0 2px rgba(124, 58, 237, 0.2);
 }
\ No newline at end of file